function?[State_NewPrediction_NewInnovation_PreRn]=Adaptive_IEKalmanFilter（framesBatchPoints?StatePredictionMeasurement_X1Measurement_Y1Measurement_X2Measurement_Y2InnovationRx）

%?compute?the?prediction?covariance?matrix
x1=Measurement_X1;
y1=Measurement_Y1;
x2=Measurement_X2;
y2=Measurement_Y2;

Row=Points;
Temp=size（State）;
Col=Temp（1）;

Rot=expm（skew（[State（3）State（4）State（5）]‘））;
[Trans1Trans2Trans3]=sph2cart（State（1）State（2）1）;
Trans=[Trans1Trans2Trans3];
%?Prediction?Step
State_Pre=State;
%?The?pseduo?innovation?process
S=State_Pre;
Rot_Pre=expm（skew（[S（3）S（4）S（5）]‘））;
[Trans_Pre1Trans_Pre2Trans_Pre3]=（sph2cart（S（1）S（2）1））;
Trans_Pre=[Trans_Pre1Trans_Pre2Trans_Pre3];
Temp_T=skew（Trans_Pre）;
for?i=1:Points
????F_Pre（i）=[x2（i）?y2（i）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2969??2003-05-07?16:35??SFM??（local?coordinate?estimation）\Adaptive_IEKalmanFilter.m

?????文件??????11900??2003-05-08?20:26??SFM??（local?coordinate?estimation）\Adaptive_SFM_Filter.m

?????文件?????149088??2003-05-05?21:32??SFM??（local?coordinate?estimation）\adaptive_sfm_rotation.fig

?????文件?????149088??2003-05-05?21:32??SFM??（local?coordinate?estimation）\adaptive_sfm_translation.fig

?????文件????????515??2003-05-08?20:48??SFM??（local?coordinate?estimation）\Cumulative_Periodogram.m

?????文件??????25664??2003-04-27?19:32??SFM??（local?coordinate?estimation）\depth.fig

?????文件????????281??2003-05-01?21:14??SFM??（local?coordinate?estimation）\Depth.m

?????文件??????25664??2003-04-27?19:32??SFM??（local?coordinate?estimation）\depth2.fig

?????文件????????474??2003-04-29?22:43??SFM??（local?coordinate?estimation）\Diff_Measure.m

?????文件????????858??2003-04-30?22:10??SFM??（local?coordinate?estimation）\Diff_State.m

?????文件???????1383??2003-05-02?09:11??SFM??（local?coordinate?estimation）\IEKalmanFilter.m

?????文件????????418??2003-04-27?16:15??SFM??（local?coordinate?estimation）\Initial.txt

?????文件???????4400??2003-05-08?16:07??SFM??（local?coordinate?estimation）\LH.m

?????文件???????3225??2003-05-08?15:44??SFM??（local?coordinate?estimation）\Local_Coordinates.m

?????文件??????10659??2014-03-06?15:35??SFM??（local?coordinate?estimation）\measurements_x.txt

?????文件??????10273??2014-03-06?15:35??SFM??（local?coordinate?estimation）\measurements_y.txt

?????文件????????240??2003-05-07?22:27??SFM??（local?coordinate?estimation）\Periodogram_I.m

?????文件????????103??2003-04-26?21:05??SFM??（local?coordinate?estimation）\RX.m

?????文件????????137??2003-04-24?08:38??SFM??（local?coordinate?estimation）\RZ.m

?????文件??????10218??2003-05-08?22:29??SFM??（local?coordinate?estimation）\SFM_Filter.m

?????文件?????149072??2003-05-05?21:30??SFM??（local?coordinate?estimation）\sfm_rotation.fig

?????文件?????149072??2003-05-05?21:30??SFM??（local?coordinate?estimation）\sfm_translation.fig

?????文件?????????95??2003-04-24?10:24??SFM??（local?coordinate?estimation）\skew.m

?????文件????????597??2003-04-27?22:55??SFM??（local?coordinate?estimation）\test2.m

?????文件???????3177??2003-04-28?22:05??SFM??（local?coordinate?estimation）\testKF.m

?????文件???????7449??2014-03-06?15:35??SFM??（local?coordinate?estimation）\test_all.m

?????文件???????3026??2003-05-08?15:26??SFM??（local?coordinate?estimation）\test_motion.m

?????文件????????101??2003-05-08?11:03??SFM??（local?coordinate?estimation）\test_movie.m

?????文件????????295??2003-05-07?22:39??SFM??（local?coordinate?estimation）\test_tuning.m

?????文件????????740??2003-04-28?10:53??SFM??（local?coordinate?estimation）\trajectory_real.m

............此處省略6個文件信息